/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2009, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef SBPL_RECOVERY_SBPL_RECOVERY_H_
#define SBPL_RECOVERY_SBPL_RECOVERY_H_

#include <ros/ros.h>
#include <nav_core/recovery_behavior.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <pose_follower/pose_follower.h>
#include <sbpl_lattice_planner/sbpl_lattice_planner.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/Path.h>
#include <boost/thread.hpp>
#include <base_local_planner/goal_functions.h>
#include <tf2_ros/buffer.h>

namespace sbpl_recovery
{
class SBPLRecovery : public nav_core::RecoveryBehavior
{
public:
    SBPLRecovery();

    // Initialize the parameters of the behavior
    void initialize(std::string n, tf2_ros::Buffer *tf,
                    costmap_2d::Costmap2DROS *global_costmap,
                    costmap_2d::Costmap2DROS *local_costmap);

    // Run the behavior
    void runBehavior();

private:
    void planCB(const nav_msgs::Path::ConstPtr &plan);

    double sqDistance(const geometry_msgs::PoseStamped &p1,
                      const geometry_msgs::PoseStamped &p2);

    std::vector<geometry_msgs::PoseStamped> makePlan();

    costmap_2d::Costmap2DROS *global_costmap_;
    costmap_2d::Costmap2DROS *local_costmap_;
    tf2_ros::Buffer *tf_;
    sbpl_lattice_planner::SBPLLatticePlanner global_planner_;
    pose_follower::PoseFollower local_planner_;
    bool initialized_;
    ros::Subscriber plan_sub_;
    ros::Publisher vel_pub_;
    boost::mutex plan_mutex_;
    nav_msgs::Path plan_;
    double control_frequency_, sq_planning_distance_, controller_patience_;
    int planning_attempts_, attempts_per_run_;
    bool use_local_frame_;
};

};
#endif
